CN220011268U - Four-axis palletizing robot - Google Patents
Four-axis palletizing robot Download PDFInfo
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- CN220011268U CN220011268U CN202321278821.2U CN202321278821U CN220011268U CN 220011268 U CN220011268 U CN 220011268U CN 202321278821 U CN202321278821 U CN 202321278821U CN 220011268 U CN220011268 U CN 220011268U
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 8
- 230000000712 assembly Effects 0.000 claims abstract description 6
- 238000000429 assembly Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model provides a four-axis palletizing robot which comprises a supporting frame, supporting rods, first linear motors, second linear motors, electric push rods, clamping discs, rotating assemblies, clamps, lifting assemblies, universal rollers and synchronous driving mechanisms, wherein the supporting rods are symmetrically fixed on four corners of the bottom of the supporting frame, the lower ends of the supporting rods are arranged in a cavity, the first linear motors are symmetrically fixed on the tops of the supporting frame, the second linear motors are fixed on the movable ends of the two first linear motors, the electric push rods are fixed on the movable ends of the second linear motors, the clamping discs are rotatably connected to the extending ends of the electric push rods through bearings, reinforcing rings are fixed on the middle positions of the upper ends of the clamping discs, and the extending ends of the electric push rods are rotatably connected with the inner walls of the reinforcing rings through bearings; the utility model ensures the convenient movement effect of the robot and the stability of the robot during working.
Description
Technical Field
The utility model relates to the technical field of four-axis palletizing robots, in particular to a four-axis palletizing robot.
Background
The four-axis palletizing robot has four degrees of freedom, namely a rotational degree of freedom is arranged on the movable end of an XYZ three-axis moving platform, so that the clamped objects to be palletized can be palletized after being rotated and adjusted by a good angle;
the existing four-axis palletizing robots are inconvenient to move, a crane is required to be used for moving during moving, the four-axis palletizing robots capable of moving are inconvenient to use, rollers are mounted at the bottoms of the robots to achieve moving effect, at least three rollers are required to support the whole robot during normal use, contact areas of the rollers and the ground are small, sliding is easy to occur, and the whole robot is unstable during operation.
Therefore, it is necessary to provide a new four-axis palletizing robot to solve the above technical problems.
Disclosure of Invention
In order to solve the technical problems, the utility model provides a four-axis palletizing robot.
The utility model provides a four-axis palletizing robot, which comprises the following components:
a support frame;
the support rods are symmetrically fixed on four corners of the bottom of the support frame, and the lower ends of the support rods are arranged in a cavity;
further comprises:
the first linear motor is symmetrically fixed at the top of the supporting frame;
the second linear motor is fixed on the moving ends of the two first linear motors;
the electric push rod is fixed on the movable end of the second linear motor;
the clamping disc is rotationally connected to the extending end of the electric push rod through a bearing;
the rotating assembly is fixed at the top of the clamping disc and used for driving the clamping disc to rotate;
the clamp is arranged at the bottom of the clamping disc;
the lifting assembly is arranged on the supporting rod;
the universal roller is fixed at the lower end of the lifting assembly and is immersed into the inner side of the cavity at the lower end of the supporting rod;
and the synchronous driving mechanism is fixed at the upper ends of the four lifting assemblies and is used for driving the four lifting assemblies to synchronously work so as to synchronously lift the four universal rollers.
Preferably, the middle part position of clamping dish upper end is fixed with the reinforcement circle, electric putter's the end that stretches out is connected with the inner wall rotation of reinforcement circle through the bearing.
Preferably, the rotating assembly includes:
the sun gear is fixed on the extending end of the electric push rod;
the motor is fixed at the top of the clamping disc;
and the planetary gear is fixed on the output end of the motor and is meshed with the sun gear.
Preferably, the motor is a worm gear speed reducing motor.
Preferably, the lifting assembly includes:
the screw rod is rotationally connected to the upper end of the supporting rod through a bearing, the upper end of the screw rod extends to the upper part of the supporting rod, and the lower end of the screw rod extends to the cavity at the lower end of the supporting rod;
the lifting column is in sliding connection on the cavity inner wall of bracing piece lower extreme, and universal gyro wheel is fixed with the bottom of lifting column, the lower extreme of screw rod passes through screw hole and lifting column threaded connection.
Preferably, the synchronous driving mechanism includes:
the synchronous pulleys are fixed at the top of the screw rod, and synchronous belts are connected among the four synchronous pulleys in a transmission way;
a worm wheel fixed on the top of one of the screws;
the worm is rotationally connected to one side, close to the worm wheel, of the top of the supporting frame through a bearing, one end, far away from the supporting frame, of the worm is rotationally connected with the outer wall of one supporting rod, close to one side of the worm wheel, through a bearing, and the worm is in meshed connection with the worm wheel;
and the rotating handle is fixed at the end part of the worm.
Compared with the related art, the four-axis palletizing robot provided by the utility model has the following beneficial effects:
1. according to the utility model, the lifting assembly is arranged on the supporting rod, and the universal rollers are arranged at the bottom of the lifting assembly, so that the universal rollers can stretch out and draw back at the bottom of the supporting rod, and can drive the four universal rollers to extend out of the supporting rod when the whole robot is moved, so that the whole robot can be moved by the universal rollers, and can be lifted and contracted to the inner side of the supporting rod when the robot carries out normal carrying and stacking work, thereby ensuring that the whole robot can conveniently move, and ensuring that the whole robot can normally and stably carry out stacking work without moving during stacking;
2. according to the utility model, the ascending or descending work of the four universal rollers can be simultaneously carried out through the synchronous driving mechanism, the ascending and descending work is not needed to be carried out sequentially, the operation steps are saved, and the use is more convenient.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is an enlarged view of the utility model at A;
FIG. 3 is a schematic view of the position structure of the universal wheel of the present utility model;
FIG. 4 is a schematic diagram of a synchronous drive mechanism according to the present utility model;
FIG. 5 is a schematic view of the position structure of the lifting column of the present utility model;
fig. 6 is a schematic view of the screw position structure of the present utility model.
Reference numerals in the drawings: 1. a support frame; 2. a support rod; 3. a first linear motor; 4. a second linear motor; 5. an electric push rod; 6. clamping the disc; 61. a reinforcing ring; 7. a rotating assembly; 71. a sun gear; 72. a motor; 73. a planetary gear; 8. a clamp; 9. a lifting assembly; 91. a screw; 92. lifting columns; 10. a universal roller; 11. a synchronous driving mechanism; 111. a synchronous pulley; 112. a worm wheel; 113. a worm; 114. a synchronous belt; 115. a rotating handle.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Specific implementations of the utility model are described in detail below in connection with specific embodiments.
Referring to fig. 1 to 6, the four-axis palletizing robot provided by the embodiment of the utility model comprises a supporting frame 1, a supporting rod 2, a first linear motor 3, a second linear motor 4, an electric push rod 5, a clamping disc 6, a rotating component 7, a clamp 8, a lifting component 9, universal rollers 10 and a synchronous driving mechanism 11, wherein the supporting rod 2 is symmetrically fixed on four corners of the bottom of the supporting frame 1, the lower end of the supporting rod 2 is arranged in a cavity, the first linear motor 3 is symmetrically fixed on the top of the supporting frame 1, the second linear motor 4 is fixed on the movable ends of the two first linear motors 3, the electric push rod 5 is fixed on the movable end of the second linear motor 4, the clamping disc 6 is rotatably connected to the extending end of the electric push rod 5 through a bearing, the middle position of the upper end of the clamping disc 6 is fixedly provided with a reinforcing ring 61, the extending end of the electric push rod 5 is rotatably connected with the inner wall of the reinforcing ring 61 through the bearing, the arrangement of the reinforcing ring 61 improves the rotating stability of the clamping disc 6, reduces the probability of being askew between the extending end of the clamping disc 6 and the extending end of the electric push rod 5, the rotating component 7 is fixed on the top of the clamping disc 6, the clamping disc 6 is fixed on the top of the clamp 6, the clamping component 10 is fixed on the movable roller 10, the lifting component 9 is arranged on the bottom of the lifting component 9 and does not need to be synchronously driven by the lifting component, and the lifting component 9 is arranged on the bottom of the universal roller 10.
According to the utility model, the universal roller 10 is arranged at the bottom of the support rod 2 in a lifting manner, so that when the whole robot is moved, the universal roller 10 can be moved by extending out from the inner side of the bottom of the support rod 2, and when the whole robot is moved in place and needs to be used, the universal roller 10 can be driven to rise and shrink to the inner side of the support rod 2, and the whole robot is supported by the support rod 2, so that the robot can stably perform stacking work, and the stability of the robot in working can be ensured while the effect of convenient movement of the robot is ensured;
and the lifting work of the four universal rollers 10 can be simultaneously carried out through the arranged synchronous driving mechanism 11, so that the operation steps are greatly saved, the sequential lifting operation is not needed, and the operation and the use are more convenient.
The rotating assembly 7 comprises a sun gear 71, a motor 72 and a planetary gear 73, the sun gear 71 is fixed on the extending end of the electric push rod 5, the motor 72 is fixed on the top of the clamping disc 6, the motor 72 is a worm gear reduction motor, the planetary gear 73 is fixed on the output end of the motor 72, the planetary gear 73 is meshed with the sun gear 71, when an article is carried, the two first linear motors 3 are driven to enable the clamp 8 to move left and right, the second linear motor 4 is driven to enable the clamp 8 to move back and forth, the clamp 8 can be driven to lift by driving the electric push rod 5 to stretch and retract, and when the article is required to be rotated after the clamp 8 clamps the article, the planetary gear 73 is driven to rotate by driving the motor 72, so that the planetary gear 73 drives the clamping disc 6 to rotate until the sun gear 71 is driven to stir the outer side of the sun gear 71, the motor 72 can be stopped until the whole article only needs to rotate, and the worm gear 73 can keep a stopped state after the motor 72 is powered off due to the fact that the motor 72 adopts the worm gear reduction motor to enable the clamp 8 to stop, and the whole clamping disc 6 cannot rotate randomly.
The lifting assembly 9 comprises a screw 91 and a lifting column 92, the screw 91 is rotationally connected to the upper end of the supporting rod 2 through a bearing, the upper end of the screw 91 extends to the upper side of the supporting rod 2, the lower end of the screw 91 extends to a cavity at the lower end of the supporting rod 2, the lifting column 92 is slidingly connected to the inner wall of the cavity at the lower end of the supporting rod 2, the universal roller 10 is fixed with the bottom of the lifting column 92, the lower end of the screw 91 is in threaded connection with the lifting column 92 through a threaded hole, the synchronous driving mechanism 11 comprises a synchronous pulley 111, a synchronous belt 114, a worm wheel 112, a worm 113 and a rotating handle 115, the synchronous pulley 111 is fixed to the top of the screw 91, the synchronous belt 114 is in transmission connection between the four synchronous pulleys 111, the worm wheel 112 is fixed to the top of one screw 91, the worm 113 is in rotational connection with the side of the supporting frame 1, one end of the worm 113, which is far from the supporting frame 1, is in rotational connection with the outer wall of one supporting rod 2, which is close to the side of the supporting rod 112 through the bearing, the worm 113 is in meshed connection with the worm 112, and the rotating handle 115 is fixed to the end of the worm 113;
before the robot moves, through rotating the rotating handle 115, drive worm 113 to rotate, stir worm wheel 112 to rotate, drive a screw 91 to rotate, and make four screw 91 rotate simultaneously through the setting of synchronous pulley 111 and hold-in range 114, thereby drive four lifting columns 92 and slide downwards simultaneously for bracing piece 2, thereby promote the below of bracing piece 2 with universal gyro wheel 10 from the cavity of bracing piece 2 lower extreme, make four universal gyro wheels 10 support whole robot, then can remove whole robot through universal gyro wheel 10, after moving in place again reverse rotation rotating handle 115, make universal gyro wheel 10 shrink again in the cavity can, make the bottom of four bracing pieces 2 touch the ground, support through bracing piece 2, compare in that direct gyro wheel supports whole robot, more stable.
The circuits and control involved in the present utility model are all of the prior art, and are not described in detail herein.
The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.
Claims (6)
1. A four-axis palletizing robot comprising:
a support frame (1);
the support rods (2) are symmetrically fixed on four corners of the bottom of the support frame (1), and the lower ends of the support rods (2) are arranged in a cavity;
characterized by further comprising:
the first linear motor (3) is symmetrically fixed at the top of the supporting frame (1);
the second linear motor (4) is fixed on the movable ends of the two first linear motors (3);
the electric push rod (5) is fixed on the movable end of the second linear motor (4);
the clamping disc (6) is rotationally connected to the extending end of the electric push rod (5) through a bearing;
the rotating assembly (7) is fixed at the top of the clamping disc (6) and is used for driving the clamping disc (6) to rotate;
the clamp (8) is arranged at the bottom of the clamping disc (6);
the lifting assembly (9) is arranged on the supporting rod (2);
the universal roller (10) is fixed at the lower end of the lifting assembly (9), and the universal roller (10) is immersed into the inner side of the cavity at the lower end of the supporting rod (2);
and the synchronous driving mechanism (11) is fixed at the upper ends of the four lifting assemblies (9) and is used for driving the four lifting assemblies (9) to synchronously work so as to synchronously lift the four universal rollers (10).
2. The four-axis palletizing robot according to claim 1, wherein a reinforcing ring (61) is fixed at the middle position of the upper end of the clamping disc (6), and the extending end of the electric push rod (5) is rotatably connected with the inner wall of the reinforcing ring (61) through a bearing.
3. A four-axis palletizing robot according to claim 2, wherein the rotating assembly (7) comprises:
a sun gear (71) fixed to the protruding end of the electric push rod (5);
a motor (72) fixed on the top of the clamping disk (6);
and a planetary gear (73) fixed on the output end of the motor (72), and the planetary gear (73) is meshed with the sun gear (71).
4. A four-axis palletizing robot according to claim 3, wherein the motor (72) is a worm gear motor.
5. A four-axis palletizing robot according to claim 1, wherein the lifting assembly (9) comprises:
the screw rod (91) is rotatably connected to the upper end of the supporting rod (2) through a bearing, the upper end of the screw rod (91) extends to the upper side of the supporting rod (2), and the lower end of the screw rod (91) extends to a cavity at the lower end of the supporting rod (2);
the lifting column (92) is slidably connected to the inner wall of the cavity at the lower end of the supporting rod (2), the universal roller (10) is fixed to the bottom of the lifting column (92), and the lower end of the screw rod (91) is in threaded connection with the lifting column (92) through a threaded hole.
6. A four-axis palletizing robot according to claim 5, wherein the synchronous drive mechanism (11) comprises:
the synchronous pulleys (111) are fixed at the top of the screw rod (91), and synchronous belts (114) are connected among the four synchronous pulleys (111) in a transmission way;
a worm wheel (112) fixed to the top of one of the screws (91);
the worm (113) is rotationally connected to one side, close to the worm wheel (112), of the top of the supporting frame (1) through a bearing, one end, far away from the supporting frame (1), of the worm (113) is rotationally connected with the outer wall of one supporting rod (2) close to one side of the worm wheel (112) through a bearing, and the worm (113) is in meshed connection with the worm wheel (112);
a turning handle (115) fixed at the end of the worm (113).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321278821.2U CN220011268U (en) | 2023-05-25 | 2023-05-25 | Four-axis palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321278821.2U CN220011268U (en) | 2023-05-25 | 2023-05-25 | Four-axis palletizing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220011268U true CN220011268U (en) | 2023-11-14 |
Family
ID=88679883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321278821.2U Active CN220011268U (en) | 2023-05-25 | 2023-05-25 | Four-axis palletizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220011268U (en) |
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2023
- 2023-05-25 CN CN202321278821.2U patent/CN220011268U/en active Active
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